@article{multiagentvulnerabilitydiscoveryfor,
  title = {Multi-Agent Vulnerability Discovery for Autonomous Driving with Hazard Arbitration Reward},
  author = {Weilin Liu and Ye Mu and Chao Yu and Xuefei Ning and Zhong Cao and Yi Wu and Shuang Liang and Huazhong Yang and Yu Wang},
  year = {2021},
  eprint = {2112.06185},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2112.06185v1},
}